CN107019618B - Walking training device and walking training method for the same - Google Patents

Walking training device and walking training method for the same Download PDF

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Publication number
CN107019618B
CN107019618B CN201610815716.6A CN201610815716A CN107019618B CN 107019618 B CN107019618 B CN 107019618B CN 201610815716 A CN201610815716 A CN 201610815716A CN 107019618 B CN107019618 B CN 107019618B
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thread
leg
tension
cord
walking
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CN201610815716.6A
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CN107019618A (en
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菅田光留
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Toyota Motor Corp
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Toyota Motor Corp
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Abstract

The invention provides a walking training device and a walking training method. The walking training device is provided with: a walking assistance device for a leg of a trainer; a first thread take-up mechanism configured to take up and store the thread during a leg swing of the leg portion and to pull out the thread during a leg supporting period, the first thread take-up mechanism being configured to stretch the thread of the leg portion upward and forward; a tension control unit that controls the first wire take-up mechanism to tension the wire at a first tension; and a storage amount detection unit for detecting the storage amount of the thread stored in the first thread winding mechanism. The tension control means controls the first thread winding mechanism so as to tension the thread with a second tension greater than the first tension during a period when the thread storage amount detected by the storage amount detection means is equal to or less than a predetermined storage amount of the thread during a period including a time when the thread of the first thread winding mechanism changes from a pulled-out state to a wound-up state.

Description

Walking training device and walking training method for the same
Technical Field
The present invention relates to a walking training device for performing walking training of a trainer, and a walking training method of the walking training device.
Background
A walking training device is known which performs walking training by wearing a walking assistance device for assisting a walking motion of a trainee on a leg of the trainee (see, for example, japanese patent laid-open No. 2012 and 095793).
Since the walking assistance device has a certain degree of weight, the weight is a burden on a trainer wearing the walking assistance device. When the trainer performs a walking operation with the leg wearing the walking assistance device, the leg receives an inertial force toward the rear from the walking assistance device at a timing when the leg is swung toward the front. Therefore, a problem arises in that an excessive burden is imposed on the trainee.
Disclosure of Invention
The present invention has been made in view of the above problems, and a main object thereof is to provide a walking training device and a walking training method of the walking training device, which can reduce the burden on a trainer at the time of starting swing without burdening the weight of the walking assistance device.
One aspect of the present invention for achieving the above object relates to a walking training device including: a walking assistance device that is worn on a leg of a trainee and assists a walking motion of the trainee; a first thread winding mechanism that winds a thread directly connected to the leg portion or connected to the leg portion via the walking assistance device to stretch the thread of the leg portion upward and forward, the first thread winding mechanism being configured to: winding and storing the wire during a swing leg period in which the leg portion is in a swing leg state during the walking motion of the trainee, and pulling out the wire during a support leg period in which the leg portion is in a support leg state during the walking motion of the trainee; a tension control unit that controls the first thread take-up mechanism so as to tension the thread with a first tension, thereby reducing the weight of the walking assistance device; and a storage amount detection unit that detects a storage amount of the thread wound and stored in the first thread winding mechanism, wherein the tension control unit controls the first thread winding mechanism so as to tension the thread with a second tension set to be larger than the first tension instead of the first tension during a swing start period in which the storage amount of the thread detected by the storage amount detection unit is equal to or less than a predetermined storage amount of the thread including a timing at which the thread of the first thread winding mechanism changes from a pulled-out state to a wound-up state.
According to this aspect, the tension control means controls the first thread take-up mechanism to tension the thread with the first tension, thereby reducing the weight of the walking assistance device. This can avoid the weight of the walking assistance device on the leg of the trainer from being loaded. Further, in a period in which the amount of thread stored detected by the stored amount detecting means is equal to or less than a predetermined stored amount of thread in a period including a time point when the thread of the first thread winding mechanism changes from the pulled-out state to the wound-up state, the first thread winding mechanism is controlled so as to stretch the thread with a second tension set to be greater than the first tension, instead of the first tension. Thus, at the time of starting the swing of the leg on which the walking assistance device is worn, the load of the inertial force of the swing can be reduced, and the load on the leg can be reduced. In other words, the load on the trainer at the time of starting the swing can be reduced without burdening the walking assistance device.
In this aspect, the oscillation start period may be: a value obtained by subtracting the amount of thread stored detected by the storage amount detection means from the maximum amount of thread stored in the first thread winding mechanism is a period of time equal to or greater than a predetermined difference between the predetermined amount of thread stored in the first thread winding mechanism and the maximum amount of thread stored in the first thread winding mechanism in a period of time including a time at which the thread of the first thread winding mechanism changes from the pulled-out state to the wound-up state.
In this aspect, the tension control means may update the maximum wire storage amount of the first wire winding mechanism for each leg swinging period. This makes it possible to determine the timing of starting the swing of the leg portion with higher accuracy, and to reduce the load of the inertial force at the timing of starting the swing.
In this aspect, the walking assist device may further include a second thread winding mechanism that winds a thread directly connected to the leg portion or connected to the leg portion via the walking assist device to stretch the thread of the leg portion upward and rearward, and the second thread winding mechanism may be configured to: the thread take-up control means may be configured to take up and store the thread during the support leg of the leg portion and to pull out the thread during the swing leg of the leg portion, and the tension control means may be configured to increase a horizontal forward component of the tension force of the first thread take-up means and the second thread take-up means during a swing start period in which the amount of the thread stored by the storage amount detection means is equal to or less than a predetermined storage amount of the thread during a period including a timing at which the thread of the first thread take-up means changes from a pulled-out state to a wound-up state. Thus, the vertical upward component and the horizontal forward component of the tensile force of the first wire winding mechanism and the second wire winding mechanism can be controlled independently and precisely. Therefore, the weight load of the walking assistance device can be reduced, and the load on the leg portion on which the walking assistance device is worn when the leg portion starts to swing can be further reduced.
One aspect of the present invention for achieving the above object may also relate to a walking training method for a walking training device, the walking training device including: a walking assistance device that is worn on a leg of a trainee and assists a walking motion of the trainee; a first thread winding mechanism that winds a thread directly connected to the leg portion or connected to the leg portion via the walking assistance device to stretch the thread of the leg portion upward and forward, the first thread winding mechanism being configured to: winding and storing the wire during a swing leg period in which the leg portion is in a swing leg state during the walking motion of the trainee, and pulling out the wire during a support leg period in which the leg portion is in a support leg state during the walking motion of the trainee; a tension control unit that controls the first thread take-up mechanism so as to tension the thread with a first tension, thereby reducing the weight of the walking assistance device; and a storage amount detection unit that detects a storage amount of the thread wound and stored in the first thread winding mechanism, wherein the first thread winding mechanism is controlled so as to be stretched with a second stretching force set larger than the first stretching force, instead of the first stretching force, during a swing start period in which the storage amount of the thread detected by the storage amount detection unit is equal to or less than a predetermined storage amount of the thread during a period including a time when the thread of the first thread winding mechanism changes from a pulled-out state to a wound-up state.
According to this aspect, the first thread take-up mechanism is controlled so as to stretch the thread with the first tensile force, thereby reducing the weight of the walking assistance device. This can avoid the weight of the walking assistance device on the leg of the trainer from being loaded. Further, in a period in which the amount of thread stored detected by the stored amount detecting means is equal to or less than a predetermined stored amount of thread in a period including a time point when the thread of the first thread winding mechanism changes from the pulled-out state to the wound-up state, the first thread winding mechanism is controlled so as to stretch the thread with a second tension set to be greater than the first tension, instead of the first tension. Thus, at the time of starting the swing of the leg on which the walking assistance device is worn, the load of the inertial force of the swing can be reduced, and the load on the leg can be reduced. In other words, the load on the trainer at the time of starting the swing can be reduced without burdening the walking assistance device.
According to the present invention, it is possible to provide a walking training device and a walking training method for the walking training device, which can reduce the burden on a trainer at the time of starting swing without burdening the weight of the walking assistance device.
Other features, objects, advantages of the invention will be further apparent from the following detailed description, read in conjunction with the accompanying drawings, which are included by way of example, and not by way of limitation.
Drawings
Fig. 1 is a perspective view showing a schematic configuration of a walking training device according to embodiment 1 of the present invention.
Fig. 2 is a perspective view showing a schematic configuration of the walking assistance device.
Fig. 3 is a block diagram showing a schematic system configuration of the control device according to embodiment 1 of the present invention.
Fig. 4 is a block diagram showing a schematic system configuration of a computer according to embodiment 1 of the present invention.
Fig. 5 is a diagram showing an example of the relationship between the wire storage amount and the leg swinging period and the leg supporting period.
Fig. 6 is a flowchart showing a flow of a walking training method according to embodiment 1 of the present invention.
Fig. 7 is a diagram showing an example of the difference between the predetermined stored amount of the thread and the maximum stored amount of the thread in a period including the time when the pulled-out state is changed to the wound-up state.
Fig. 8 is a flowchart showing an example of a process flow of updating the maximum line storage amount and determining the timing of starting swing in each swing leg period.
Fig. 9 is a view showing an example of a structure in which the second wire winding mechanism is provided in the frame body.
Detailed Description
Embodiment mode 1
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
Fig. 1 is a perspective view showing a schematic configuration of a walking training device according to embodiment 1 of the present invention. The walking training device 1 according to embodiment 1 is a device for performing walking training of a trainee such as a stroke hemiplegia patient, for example. The walking training device 1 includes a walking assistance device 2 to be worn on the leg of a trainer, and a training device 3 for performing walking training of the trainer.
The walking assistance device 2 is worn, for example, on an affected leg of a trainee who performs walking training, and assists the trainee in walking (fig. 2). The walking assistance device 2 includes: the leg frame 21, a lower leg frame 23 connected to the leg frame 21 via a knee joint portion 22, a sole frame 25 connected to the lower leg frame 23 via an ankle joint portion 24, a motor unit 26 for driving the knee joint portion 22 to rotate, and an adjustment mechanism 27 for adjusting a movable range of the ankle joint portion 24. The configuration of the walking assistance device 2 is an example, and is not limited to this. For example, the walking assistance device 2 may include a motor unit that drives the ankle joint portion 24 to rotate.
The thigh frame 21 is attached to the thigh of the leg of the trainer, and the lower leg frame 23 is attached to the lower leg of the trainer. The thigh frame 21 is provided with a thigh harness 212 for fixing a thigh, for example. The thigh frame 21 is provided with a laterally long first frame 211 extending in the left-right direction for connecting a wire 36 of a first wire winding mechanism 33 described later.
The connection portion of the first thread take-up mechanism 33 is an example, and is not limited thereto. For example, the string 36 of the first string winding mechanism 33 may be connected to the thigh harness 212, and the tension point of the first string winding mechanism 33 may be set at an arbitrary position of the walking assistance device 2.
The motor unit 26 assists walking of the trainer by driving the knee joint part 22 to rotate according to the walking motion of the trainer. The configuration of the walking assistance device 2 is an example, and is not limited to this. Any walking assistance device that is worn on the leg of a trainer and that can assist the walking of the trainer can be applied.
The training device 3 includes a walking exerciser 31, a frame body 32, first and third wire winding mechanisms 33, 34, and a control device 35. The walking exerciser 31 rotates the endless running belt 311. The trainer steps on the running belt 311 and walks in accordance with the movement of the running belt 311, thereby performing walking training.
The frame body 32 has: two pairs of column frames 321 provided upright on the walking exerciser 31; a pair of front and rear frames 322 connected to the respective column frames 321 and extending in the front-rear direction; and three left and right frames 323 connected to the respective front and rear frames 322 and extending in the left and right direction. The structure of the frame body 32 is an example, and is not limited to this.
The first thread take-up mechanism 33 is provided on the front left and right frames 323, and the first thread take-up mechanism 33 takes up the thread 36 directly connected to the leg of the exerciser or connected to the leg of the exerciser via the walking assistance device 2 to stretch the thread 36. One end of the thread 36 pulled by the first thread take-up mechanism 33 is connected to the walking assistance device 2. The first thread winding mechanism 33 winds the thread 36 and pulls the walking assistance device 2 forward while guiding the thread 36 upward.
The first thread take-up mechanism 33 is constituted by, for example, a mechanism for taking up the thread 36 on the rotating body and pulling out the thread 36 from the rotating body, a motor for driving the mechanism, and the like. The first thread take-up mechanism 33 is configured to: the wire 36 is wound around the rotating body and stored in the rotating body during the leg swing period when the leg portion is in the leg swing state during the walking motion of the trainee, and the wire 36 is pulled out from the rotating body during the leg support period when the leg portion is in the leg support state during the walking motion of the trainee.
The vertical upper component f2 of the tensile force f of the first wire winding mechanism 33 supports the weight of the walking assistance device 2 (fig. 3). The horizontal front component f1 of the tension f of the first wire winding mechanism 33 assists the swinging of the leg. This can reduce the walking load of the trainer during walking training.
The third wire winding mechanism 34 is provided on the rear left and right frames 323, and draws the wire 37 upward. One end of the wire 37 is connected to, for example, a belt worn near the waist of the trainer. The third wire winding mechanism 34 is configured by, for example, a mechanism for winding the wire 37 around a rotating body or the like and for pulling out the wire 37 from the rotating body or the like, a motor for driving the mechanism, and the like. The third thread winding mechanism 34 pulls the waist of the trainee upward through the thread 37. This reduces the load of the trainer due to its own weight. The first and third wire winding mechanisms 33 and 34 are connected to a control device 35 via wiring or the like.
The first and third wire winding mechanisms 33 and 34 are provided with first and third storage amount detection units 40 and 41, respectively, and the first and third storage amount detection units 40 and 41 detect storage amounts (winding amounts) of the wires 36 and 37 wound and stored in the rotary bodies of the first and third wire winding mechanisms 33 and 34, respectively. The first storage amount detection unit 40 is a specific example of a storage amount detection unit. The first and third storage amount detection units 40 and 41 detect the storage amounts of the wires 36 and 37 wound around and stored in the rotating body by detecting the rotation angle and the rotation amount of the rotating body using, for example, an angle sensor. The first and third storage amount detection units 40 and 41 output the detected storage amounts of the wires 36 and 37 to the control device 35. Further, only the first thread take-up mechanism 33 may be provided.
The control device 35 is a specific example of the stretch control means. The control device 35 controls the tension of the first and third wire winding mechanisms 33 and 34, the driving of the walking exerciser 31, and the walking assistance device 2. The control device 35 is configured by hardware, for example, with a microcomputer as a center, and the microcomputer includes a CPU (Central Processing Unit) that performs arithmetic Processing, control Processing, and the like, a ROM (Read Only Memory) that stores arithmetic programs, control programs, and the like executed by the CPU, a Memory configured by a RAM (Random Access Memory), and an interface Unit (I/F) that inputs and outputs signals from and to the outside. The CPU, the memory, and the interface unit are connected to each other via a data bus or the like.
The control device 35 controls the first thread take-up mechanism 33 so as to stretch the thread 36 with a first stretching force that reduces the weight of the walking assistance device 2 during walking training. The control device 35 controls the first thread take-up mechanism 33 during walking training so that, for example, the vertically upward component of the first tensile force of the first thread take-up mechanism 33 is equal to the gravity of the walking assistance device 2. This reduces the weight load on the walking of the trainer by the walking assistance device 2.
Fig. 3 is a block diagram showing a schematic system configuration of the control device according to embodiment 1.
The control device 35 is configured by, for example, a leg load-free control unit 351 that controls the first wire winding mechanism 33, a person load-free control unit 352 that controls the third wire winding mechanism 34, a leg control unit 353 that controls the walking assistance device 2, a walking mover control unit 354 that controls the walking mover 31, a Computer (Personal Computer) 355 that controls the above units, and an operation panel 356 for operating the Computer 355. The operation panel 356 displays information such as a training instruction, a training menu, and training information (walking speed, biological information, and the like). Operation panel 356 is configured as a touch panel, for example, and a user can input various information via operation panel 356.
However, since the walking assistance device has a certain degree of weight, the weight becomes a burden to the trainer wearing the walking assistance device. When the trainer performs a walking operation with the leg wearing the walking assistance device, the leg receives an inertial force toward the rear from the walking assistance device at a timing when the leg is swung toward the front. Therefore, a problem arises in that an excessive burden is imposed on the trainee.
In contrast, in the walking training device 1 according to embodiment 1, the control device 35 controls the first thread take-up mechanism 33 so as to stretch the thread 36 with the first stretching force, thereby reducing the weight of the walking assistance device 2. This can avoid the weight of the walking assistance device 2 on the legs of the trainer from being loaded. The control device 35 determines the timing of starting the swing of the leg to which the walking assistance device 2 is attached, and increases the tension of the first wire winding mechanism 33 to a second tension set to be larger than the first tension at the timing of starting the swing, instead of the first tension. Thus, at the time of starting the swing of the leg on which the walking assistance device 2 is worn, the load of the inertial force of the swing can be reduced, and the load on the leg can be reduced. That is, the load on the trainer at the time of starting the swing can be reduced without burdening the walking assistance device 2 with its weight.
Fig. 4 is a block diagram showing a schematic system configuration of the computer according to embodiment 1. The computer 355 according to embodiment 1 includes: a motion determination unit 357 that determines the timing of starting the swing of the leg on which the walking assistance device 2 is worn; and a tension calculating section 358 for increasing the tension of the first wire winding mechanism from the first tension to a second tension set to be greater than the first tension at the time of starting the swing.
The motion determination unit 357 determines the timing (period) when the leg portion having the walking assistance device 2 worn thereon starts swinging forward, based on the line storage amount detected by the first storage amount detection unit 40.
Fig. 5 is a diagram showing an example of the relationship between the wire storage amount and the leg swinging period and the leg supporting period. As shown in fig. 5, it can be seen that: in the walking action of the trainer, a leg swinging period and a leg supporting period are alternately generated, and the thread storage amount is approximately periodically increased and decreased according to the periods. The timing when the leg portion starts to swing forward is the timing when the wire 36 of the first wire winding mechanism 33 changes from the pulled-out state to the wound-up state, and also the timing when the leg portion starts to swing from the support leg period. This time is generated substantially periodically.
In embodiment 1, the motion determination unit 357 determines the time when the leg starts to swing forward, for example, as follows: the thread take-in amount detected by the first take-in amount detecting section 40 is equal to or less than a predetermined take-in amount (hereinafter referred to as a swing time determination threshold) in a period including a time at which the thread 36 of the first thread take-up mechanism 33 changes from the pulled-out state to the wound-up state.
For example, the timing at which the thread 36 of the first thread winding mechanism 33 changes from the pulled-out state to the wound-up state can be obtained in advance through experiments. Then, the line storage amount in the period including the time of the change is obtained and set in the memory or the like as a swing time determination threshold.
The swing time determination threshold is configured to be arbitrarily changeable by a user via the operation panel 356 or an operation terminal, for example. The swing time determination threshold is set to an optimum value in consideration of, for example, the characteristics of the trainer (the stride length, the exercise ability, etc. of the trainer), the moving speed of the running belt 311 of the walking exerciser 31, and the like. The swing time determination threshold is equal to or greater than the thread take-in amount at the time when the thread 36 of the first thread winding mechanism 33 changes from the pulled-out state to the wound-up state. When the oscillation time determination threshold is set to be large, the operation determination unit 357 determines the time to start oscillation at an earlier time and for a longer period. Therefore, the second tension set to be larger than the first tension acts on the wire 36 of the first wire winding mechanism 33 at an earlier timing and for a longer period of time.
The motion determination unit 357 determines the timing at which the leg portion starts to swing forward when the line storage amount detected by the first storage amount detection unit 40 is equal to or less than the swing timing determination threshold set as described above. The motion determination unit 357 outputs a determination signal to the stretching force calculation unit 358 during the time when it is determined that the leg on which the walking assistance device 2 is worn starts swinging forward.
The tension calculating section 358 calculates a first tension command value for the first wire winding mechanism 33 and outputs the calculated first tension command value to the first wire winding mechanism 33. The first wire winding mechanism 33 stretches the wire 36 of the walking assistance device 2 with the first tension f based on the first tension command value output from the tension calculation unit 358. The vertical upward component f2 of the first tensile force f of the first wire winding mechanism 33 at this time supports the weight of the walking assistance device 2. The leg swing is assisted by the horizontal forward component f1 of the first tensile force f of the first wire winding mechanism 33. That is, the first tensile force command value is set to: the vertical upward component f2 of the first tensile force f optimally supports the weight of the walking assistance device 2 with respect to the normal walking motion of the user, and the horizontal forward component f1 of the first tensile force f.
However, as described above, the walking assistance device 2 receives a backward inertial force at the time of starting the swing of the leg during walking, and a load equal to or greater than the normal walking motion is applied to the leg at the time of starting the swing. In contrast, the tension calculating unit 358 according to embodiment 1 increases the tension command value from the normal first tension command value to the second tension command value upon receiving the determination signal from the operation determining unit 357. The first wire winding mechanism 33 stretches the wire 36 of the walking assistance device 2 at the second tension according to the second tension command value output from the tension calculation unit 358.
Thus, the tension of the first wire winding mechanism 33 is increased from the first tension to the second tension only when the inertial force at the time of starting the swing of the leg portion is received. This reduces the load of the inertial force at the time of starting the swing of the leg portion.
Fig. 6 is a flowchart showing a flow of the walking training method according to embodiment 1. The processing shown in fig. 6 is repeatedly executed for a predetermined time.
The first storage amount detector 40 detects the amount of thread stored in the rotary body that is wound and stored in the first thread winding mechanism 33, and outputs the detected amount of thread stored to the control device 35 (step S101).
The motion determination unit 357 determines whether or not the leg having the walking assistance device 2 mounted thereon starts swinging forward based on the line storage amount detected by the first storage amount detection unit 40 (step S102).
When the operation determination unit 357 determines that the leg portion to which the walking assistance device 2 is attached starts swinging forward (yes in step S102), the tension calculation unit 358 sets the tension command value as the second tension command value and outputs the set second tension command value to the first thread winding mechanism 33 (step S103). On the other hand, if the operation determination unit 357 determines that the leg portion having the walking assistance device 2 mounted thereon has not started swinging forward (no in step S102), the tension calculation unit 358 sets the tension command value as the first tension command value and outputs the set first tension command value to the first thread winding mechanism 33 (step S104).
As described above, in the present embodiment 1, the control device 35 controls the first thread winding mechanism 33 to stretch the thread 36 with the first stretching force, thereby making it possible to reduce the weight of the walking assistance device 2. This can avoid the weight of the walking assistance device 2 on the legs of the trainer from being borne. Further, during a period in which the amount of the thread 36 stored detected by the first storage amount detecting section 40 is equal to or less than the predetermined storage amount of the thread 36 including a time point when the thread 36 of the first thread winding mechanism 33 changes from the pulled-out state to the wound-up state, the first thread winding mechanism 33 is controlled so as to stretch the thread 36 with a second tension set to be larger than the first tension, instead of the first tension. Thus, at the time of starting the swing of the leg on which the walking assistance device 2 is worn, the load of the inertial force of the swing can be reduced, and the load on the leg can be reduced. In other words, the load on the walking assistance device 2 can be eliminated, and the burden on the trainer at the time of starting the swing can be reduced.
Embodiment mode 2
In embodiment 2 of the present invention, a predetermined difference between the predetermined stored amount of the thread 36 and the maximum thread stored amount during a period including the time when the thread 36 of the first thread winding mechanism 33 changes from the pulled-out state to the wound-up state is set in the memory or the like as the swing time determination threshold (fig. 7). The maximum thread take-up amount (hereinafter referred to as the maximum thread take-up amount) is, for example, a thread take-up amount at a timing when the thread 36 of the first thread take-up mechanism 33 changes from the take-up state to the drawn-out state, and is experimentally obtained in advance and set in the memory or the like.
In this case, the operation determination unit 357 determines the timing at which the leg portion starts to swing forward when determining that the value obtained by subtracting the storage amount of the line 36 detected by the first storage amount detection unit 40 from the maximum line storage amount is equal to or greater than the swing timing determination threshold value.
Here, since there is a possibility that the wire housing amount is different during each swing leg, the maximum wire housing amount is also different during each swing leg. Therefore, the motion determination unit 357 may update the maximum line storage amount stored in the memory for each leg swing period. This makes it possible to determine the timing of starting the swing of the leg portion with higher accuracy, and to reduce the load of the inertial force at the timing of starting the swing more favorably.
Fig. 8 is a flowchart showing an example of a process flow of updating the maximum line storage amount and determining the timing of starting swing in each swing leg period. The processing shown in fig. 8 is repeatedly executed for a predetermined time.
The operation determination unit 357 determines whether or not the current line storage amount detected by the first storage amount detection unit 40 is equal to or greater than the maximum line storage amount set in the memory (step S201).
When the operation determination unit 357 determines that the current line storage amount detected by the first storage amount detection unit 40 is equal to or greater than the maximum line storage amount set in the memory (yes in step S201), the current line storage amount detected by the first storage amount detection unit 40 is set again in the memory as the maximum line storage amount (step S202), and the process proceeds to the process described below (step S203). When the operation determination unit 357 determines that the line storage amount detected by the first storage amount detection unit 40 is not less than or equal to the maximum line storage amount set in the memory (no in step S202), the process proceeds to the process (step S203) described later.
The operation determination unit 357 determines whether or not a value obtained by subtracting the current line storage amount detected by the first storage amount detection unit 40 from the maximum line storage amount is equal to or greater than the swing timing determination threshold (step S203). When the operation determination unit 357 determines that the value obtained by subtracting the current line storage amount detected by the first storage amount detection unit 40 from the maximum line storage amount is equal to or greater than the swing time determination threshold (yes in step S203), it determines that it is the time (true) at which the leg starts to swing forward (step S204). The operation determination unit 357 sets the maximum thread take-up amount to the current thread take-up amount of the first thread take-up mechanism 33 (step S205). Thus, after the time for starting the swing is determined, the maximum line storage amount set in the memory can be temporarily reset.
On the other hand, if the operation determination unit 357 determines that the value obtained by subtracting the current storage amount of the line detected by the first storage amount detection unit 40 from the maximum line storage amount is not equal to or greater than the swing time determination threshold (no in step S203), it determines that the time (false) at which the leg starts to swing forward is not (step S206).
The present invention is not limited to the above-described embodiments, and can be modified as appropriate without departing from the scope of the invention.
In the above embodiment, the second thread take-up mechanism 38 that pulls the walking assistance device 2 upward and rearward via the thread 39 may be provided to the left and right frames 323 of the frame body 32 (fig. 9). The resultant force of the vertical upward components of the tensile forces of the first and second wire winding mechanisms 33, 38 supports the weight of the walking assistance device 2. The leg swing is assisted by the resultant force of the horizontal components of the tensile forces of the first and second wire winding mechanisms 33 and 38.
The tension calculation unit 358 outputs a tension command value to the first and second wire winding mechanisms 33 and 38 such that the resultant force of the vertically upper components of the tensions of the first and second wire winding mechanisms 33 and 38 reduces the gravity of the walking assistance device 2.
When the tension calculating unit 358 receives the determination signal from the action determining unit 357, the tension command value is increased from the first tension command value to the second tension command value, and the increased second tension command value is output to the first wire winding mechanism 33. At this time, the tension calculating unit 358 outputs a normal first tension command value to the second wire winding mechanism 38 (the tension command value is constant), but the tension calculating unit is not limited to this, and may change the first tension command value in the same manner as the first tension command value for the first wire winding mechanism 33. That is, the tension calculating unit 358 varies the tension command values for the first and second wire winding mechanisms 33, 38 at the time of starting the swinging, thereby increasing the horizontal forward component of the tension of the first and second wire winding mechanisms 33, 38. This makes it possible to control the vertical upward component and the horizontal forward component of the tensile force of the first and second wire winding mechanisms 33 and 38 independently and precisely. Therefore, the weight load of the walking assistance device 2 can be reduced, and the load on the leg on which the walking assistance device 2 is worn when the leg starts to swing can be reduced more preferably.
In the above embodiment, the operation determination unit 357 determines the timing at which the leg portion starts to swing forward when the thread take-up amount of the first thread take-up mechanism 33 detected by the first take-up amount detection unit 40 provided in the first thread take-up mechanism 33 becomes equal to or less than the set swing timing determination threshold, but the present invention is not limited to this. The operation determination unit 357 may determine the timing at which the leg portion starts to swing forward when the amount of thread stored in the second thread winding mechanism 38 detected by the second stored amount detection unit 42 provided in the second thread winding mechanism 38 is equal to or less than the set swing timing determination threshold.
As is apparent from the above description of the present invention, various modifications can be made in the present invention. Such variations are not to be regarded as a departure from the spirit and scope of the invention, and all such modifications as would be obvious to one skilled in the art are intended to be included within the scope of protection.

Claims (8)

1. A walking training device is provided with:
a walking assistance device that is worn on a leg of a trainee and assists a walking motion of the trainee;
a first thread winding mechanism that winds a first thread directly connected to the leg portion or connected to the leg portion via the walking assistance device to stretch the first thread of the leg portion upward and forward, and that is configured to: the first string is wound and stored during a swing leg period in which the leg portion is in a swing leg state during the walking motion of the trainee, and the first string is pulled out during a support leg period in which the leg portion is in a support leg state during the walking motion of the trainee;
a tension control unit that controls the first thread take-up mechanism so as to stretch the first thread with a first tension, thereby reducing the weight of the walking assistance device; and
a storage amount detection unit that detects a storage amount of the primary cord wound and stored in the primary cord winding mechanism,
the walking training device is characterized in that,
a swing start period in which the amount of the first cord stored detected by the storage amount detection means is equal to or less than a predetermined storage amount of the first cord in a period including a time point when the first cord of the first cord winding mechanism changes from the pulled-out state to the wound-up state,
the tension control means controls the first thread take-up mechanism so as to tension the first thread with a second tension set to be greater than the first tension, instead of the first tension.
2. Walking training device according to claim 1,
the wobble start period is: a value obtained by subtracting the stored amount of the primary cord detected by the stored amount detecting means from the maximum stored amount of the primary cord winding mechanism is a period equal to or greater than a predetermined difference between the predetermined stored amount of the primary cord and the maximum stored amount of the cord in a period including a timing at which the primary cord of the primary cord winding mechanism changes from the pulled-out state to the wound-up state.
3. Walking training device according to claim 2,
the tension control unit updates the maximum thread take-up amount of the first thread take-up mechanism during each of the swing legs.
4. Walking training device according to claim 1,
further comprising a second thread winding mechanism that winds a second thread directly connected to the leg portion or connected to the leg portion via the walking assistance device to stretch the second thread of the leg portion upward and rearward, and is configured to: the second cord is taken up and stored during the leg of the leg and pulled out during the swing of the leg,
a swing start period in which the amount of the first cord stored detected by the storage amount detection means is equal to or less than a predetermined storage amount of the first cord in a period including a time point when the first cord of the first cord winding mechanism changes from the pulled-out state to the wound-up state,
the tension control means increases the horizontal forward component of the tension of the first wire winding mechanism and the second wire winding mechanism.
5. Walking training device according to claim 1,
further comprising a second thread winding mechanism that winds a second thread directly connected to the leg portion or connected to the leg portion via the walking assistance device to stretch the second thread of the leg portion upward and rearward, and is configured to: the second cord is taken up and stored during the leg of the leg and pulled out during the swing of the leg,
even if the amount of the first cord stored detected by the storage amount detection means is equal to or less than the swing start period of the first cord in the period including the time when the first cord of the first cord winding mechanism changes from the pulled-out state to the wound-up state,
the tension control unit also keeps the tension of the second wire winding mechanism constant.
6. Walking training device according to claim 4,
the wobble start period is: a period during which the second thread take-up amount of the second thread take-up mechanism detected by a second take-up amount detecting unit provided in the second thread take-up mechanism becomes equal to or less than a predetermined set take-up amount.
7. Walking training device according to claim 1,
the waist-up device further includes a thread take-up mechanism for upwardly stretching the waist of the trainee by upwardly stretching the thread connected to the waist of the trainee.
8. Walking training device according to any one of claims 1 to 7,
the predetermined storage amount is set to be equal to or greater than a storage amount of the primary cord at a time when the primary cord of the primary cord winding mechanism changes from a pulled-out state to a wound-up state.
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